Merge remote-tracking branch 'origin/xtkuang_dev' into xtkuang_dev

cmvr-es/devices/arm/aubo_arm/README.md

@@ -106,9 +106,11 @@ cmake --install build
   `RobotModeType` 和硬件急停来源；首次有效样本前、监控断线或样本过期时，
   所有 Move、Speed、Servo 和程序启动请求均按不安全状态拒绝；
 - 硬件急停会立即使当前运动 generation 失效，并在急停输入有效期间保持锁存。
-  检测到硬件急停输入消失且控制器重新报告 `Normal`/`ReducedMode` 后，后端应
-  自动执行 `poweron()` 和 `startup()`，恢复到 `Running` 后再完成安全确认并开放新的
-  gRPC 控制指令；防护停机和 Safety Fault/Violation 仍保持显式恢复语义；
+  AUBO SDK 将示教器/控制柜急停报告为 `RobotEmergencyStop`，将控制器系统急停
+  （外部系统急停输入）报告为 `SystemEmergencyStop`；两者在本后端都属于硬件急停。
+  检测到任一硬件急停输入消失且控制器重新报告 `Normal`/`ReducedMode` 后，后端自动
+  执行 `poweron()` 和 `startup()`，恢复到 `Running` 后再完成安全确认并开放新的 gRPC
+  控制指令；防护停机和 Safety Fault/Violation 仍保持显式恢复语义；
 - `emergencyStop()` 使用独立的 `SoftwareEmergencyStop` 锁存。即使软件急停在真实
   硬件急停有效期间触发，后续硬件采样也不能覆盖该锁存，释放硬件急停开关不会
   自动清除软件急停；它只能通过显式安全恢复流程解除；

cmvr-es/devices/arm/aubo_arm/aubo_arm.cpp

@@ -470,7 +470,7 @@ void publishSafetySample(
     monitor->servo_mode_select.store(servo_mode_select);
     monitor->last_sample_ns.store(monotonicNowNs());
 
-    if (emergency_stop_source != 0) {
+    if (aubo_internal::isHardwareEmergencyStop(condition)) {
         const bool first_sample_for_event =
             !monitor->hardware_emergency_stop_latched.exchange(true);
         if (first_sample_for_event) {
@@ -875,8 +875,7 @@ bool hardwareEmergencyStopRecoveryCurrent(
            monitor->emergency_stop_source.load() == 0 && snapshot.latched &&
            snapshot.recovery_in_progress && snapshot.epoch == token.epoch &&
            !snapshot.software_emergency_stop_latched &&
-           snapshot.latched_reason ==
-               aubo_internal::SafetyCondition::RobotEmergencyStop &&
+           aubo_internal::isHardwareEmergencyStop(snapshot.latched_reason) &&
            aubo_internal::isMotionSafe(snapshot.observed);
 }
 
@@ -3899,13 +3898,16 @@ Result AuboArm::ensureMotionReady_(
                 " rejected: hardware safety state is unavailable or stale");
     }
 
-    if (monitor->emergency_stop_source.load() != 0) {
+    const auto sampled_condition =
+        aubo_internal::effectiveSafetyCondition(
+            safetyConditionFromSdk(static_cast<SafetyModeType>(
+                monitor->safety_mode.load())),
+            monitor->emergency_stop_source.load());
+    if (aubo_internal::isHardwareEmergencyStop(sampled_condition)) {
         const auto previous = monitor->safety_state->snapshot();
-        monitor->safety_state->observe(
-            aubo_internal::SafetyCondition::RobotEmergencyStop);
+        monitor->safety_state->observe(sampled_condition);
         if (!previous.latched ||
-            previous.observed !=
-                aubo_internal::SafetyCondition::RobotEmergencyStop) {
+            previous.observed != sampled_condition) {
             cancelForSafetyTransition(monitor);
         }
     }
@@ -3935,8 +3937,7 @@ Result AuboArm::ensureMotionReady_(
         }
         std::string recovery_instruction =
             "; clear the hardware condition and perform explicit recovery";
-        if (condition ==
-                aubo_internal::SafetyCondition::RobotEmergencyStop &&
+        if (aubo_internal::isHardwareEmergencyStop(condition) &&
             monitor->auto_power_on_after_hardware_estop_release &&
             !monitor->automatic_recovery_suppressed.load()) {
             recovery_instruction =

cmvr-es/devices/arm/aubo_arm/aubo_safety_state.h

@@ -29,10 +29,23 @@ inline bool isMotionSafe(const SafetyCondition condition) noexcept
            condition == SafetyCondition::Reduced;
 }
 
+inline bool isHardwareEmergencyStop(
+    const SafetyCondition condition) noexcept
+{
+    return condition == SafetyCondition::SystemEmergencyStop ||
+           condition == SafetyCondition::RobotEmergencyStop;
+}
+
 inline SafetyCondition effectiveSafetyCondition(
     const SafetyCondition reported_condition,
     const int robot_emergency_stop_source) noexcept
 {
+    // The source bitmask describes robot-side inputs such as the control box
+    // and teach pendant. Keep the SDK's SystemEmergencyStop classification for
+    // the separate external system-emergency input.
+    if (reported_condition == SafetyCondition::SystemEmergencyStop) {
+        return SafetyCondition::SystemEmergencyStop;
+    }
     if (robot_emergency_stop_source < 0) {
         return SafetyCondition::Unknown;
     }
@@ -89,7 +102,7 @@ inline bool shouldAutoRecoverHardwareEmergencyStop(
            hardware_emergency_stop_was_observed && snapshot.latched &&
            !snapshot.recovery_in_progress &&
            !snapshot.software_emergency_stop_latched &&
-           snapshot.latched_reason == SafetyCondition::RobotEmergencyStop &&
+           isHardwareEmergencyStop(snapshot.latched_reason) &&
            isMotionSafe(snapshot.observed) &&
            current_emergency_stop_source == 0;
 }
@@ -116,7 +129,7 @@ public:
 
         const bool preserve_hardware_estop_latch =
             condition == SafetyCondition::Unknown && latched_ &&
-            latched_reason_ == SafetyCondition::RobotEmergencyStop &&
+            isHardwareEmergencyStop(latched_reason_) &&
             !software_emergency_stop_latched_;
         if (!latched_ || recovery_in_progress_ ||
             (changed && !preserve_hardware_estop_latch)) {
@@ -199,7 +212,7 @@ public:
         if (!token.valid() || token.epoch != epoch_ || !latched_ ||
             !recovery_in_progress_ ||
             software_emergency_stop_latched_ ||
-            latched_reason_ != SafetyCondition::RobotEmergencyStop ||
+            !isHardwareEmergencyStop(latched_reason_) ||
             !isMotionSafe(observed_) || !robot_running || !controller_idle ||
             !cancellation_confirmed) {
             return false;

docs/device_safety_control_plane_architecture.md

@@ -28,9 +28,10 @@
 认证或 TLS 模式会启动失败，不会静默回退。匿名部署的恢复默认关闭，只有显式配置
 `RECOVERY_LOCAL_ONLY`、服务端确认实际 peer 为 loopback/Unix socket 且持久审计可写时才可开放。
 
-AUBO 另有一条设备内硬件语义：真实硬件急停曾有效、随后输入消失且控制器重新报告
-`Normal/ReducedMode` 时，驱动会自动上电到 `Idle`、清理旧队列、执行 `startup()`，并在
-`Running` 下再次确认 quiescent 后解除该硬件锁存，使新的 gRPC 指令可以重新准入；
+AUBO 另有一条设备内硬件语义：示教器/控制柜 `RobotEmergencyStop` 或外部系统输入
+`SystemEmergencyStop` 曾有效、随后输入消失且控制器重新报告 `Normal/ReducedMode` 时，
+驱动会自动上电到 `Idle`、清理旧队列、执行 `startup()`，并在 `Running` 下再次确认
+quiescent 后解除该硬件锁存，使新的 gRPC 指令可以重新准入；
 软件 `emergencyStop()` 使用独立 `SoftwareEmergencyStop` 锁存，即使它与硬件急停重叠也绝不被
 硬件输入释放自动清除。自动流程不 resume、不重放旧目标；显式 Stop/PowerOff 会取消本轮自动上电。